CN110285020A - Method for adjusting the adjustment equipment of wind-driven generator - Google Patents
Method for adjusting the adjustment equipment of wind-driven generator Download PDFInfo
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- CN110285020A CN110285020A CN201910620924.4A CN201910620924A CN110285020A CN 110285020 A CN110285020 A CN 110285020A CN 201910620924 A CN201910620924 A CN 201910620924A CN 110285020 A CN110285020 A CN 110285020A
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0204—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D15/00—Transmission of mechanical power
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0224—Adjusting blade pitch
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/40—Transmission of power
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/70—Adjusting of angle of incidence or attack of rotating blades
- F05B2260/79—Bearing, support or actuation arrangements therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
- F05D2270/00—Control
- F05D2270/60—Control system actuates means
- F05D2270/62—Electrical actuators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Wind Motors (AREA)
Abstract
In order to preferably control when adjusting the moving part of wind-driven generator, it could dictate that: before adjusting, drive shaft (11-1, 11-2, 11-3, 11-4) tensioning so relative to each other, i.e. by least one drive shaft (11-1) relative to other drive shaft (11-2, 11-3, 11-4) rotate, and during adjusting, each drive shaft (11-1, 11-2, 11-3, 11-4) keeping drive shaft (11-1, 11-2, 11-3, it is rotated jointly along identical direction of rotation in the case where 11-4) being tensioned by position control, until reach the desired final position of moving part () until.
Description
Technical field
The present invention relates to a kind of method for adjusting the adjustment equipment of wind-driven generator, the moving parts of wind-driven generator
It is rotated by the adjustment equipment, wherein adjustment equipment includes at least two drive shafts, and drive shaft is respectively provided with driving motor, is driven
Moving axis couples with moving part, and the present invention relates to a kind of wind-driven generators including this adjustment equipment.
Background technique
Wind-driven generator usually has the adjustment equipment of the different moving parts for wind-driven generator, e.g. wind wheel oar
Leaf adjusts or azimuth adjustment, to adjust wind-driven generator for the wind condition (wind speed, wind direction etc.) of variation, and borrows
This mainly improves energy output.These adjustment equipments usually have multiple lesser, coefficient driving motors, rather than single
A biggish driving motor.Driving motor is usually applied to common sprocket by drive pinion, to adjust wind-force hair
The moving part of motor.Sprocket herein often fixedly fix by position, such as is arranged at tower in azimuth adjustment, or
It is adjusted at the wheel hub (as quasi- stationary part) of cabin for Wind wheel paddle.Driving motor is fixed on together with drive pinion
At moving part.But this structure can also be in turn.In the case, moving part and position fixing part point pass through
Bearing, rolling bearings or plain bearings are connected with each other.Driver is generally also disposed between driving motor and drive pinion
Structure, often planetary gear, the planetary gear work as fluid torque-converter, that is, the high revolving speed and low torque of driving motor
Higher torque is converted into the case where lower revolving speed at drive pinion.In addition, usually especially in rolling bearing
In the case where, it also is provided with brake apparatus, is usually one in most cases for hydraulic regulating brake, so as to can be to wind-force
The moving part of generator is braked or is fixed.It is usually not provided in sliding bearing and is in most cases filled for hydraulic braking
It sets.It can be equipped with the fixed brake hoop in position in brake apparatus, be arranged in the brake block at moving part and be applied to the brake hoop
On.This arrangement (structure) is also possible in turn.Additionally or alternatively, driving motor is also provided with there is holding brake
(stopping brake).
In the drive shaft of the adjustment equipment of wind-driven generator, i.e., driving motor (if necessary then have drive pinion with
Transmission mechanism and engaging section between sprocket) there are biggish mechanical clearances and biggish elasticity.For example, in drive pinion
Tooth and sprocket between, range be from 0.5mm to 1mm between gap it is much.Additionally, in drive shaft be equipped with compared with
Big transmission ratio, transmission ratio are usually the order of magnitude in 1:20000.Therefore, in order to by the torque transfer of driving motor to sprocket wheel
Tooth, it is necessary to overcome the gap in drive shaft and elasticity first.For this purpose, the multiple rotation of the drive shaft of driving motor is necessary.
Due to this reason, especially under wind load action, the adjusting of adjustment equipment seems more complicated than outside.If adjusting is set
The stopping braking (device) of standby hydraulic braking (device) and/or driving motor is unclamped, then wind can make the part uncontrolled ground edge of movement
The rotation of motor direction of rotation, until gap and elasticity can be overcome, and driving motor can transmit torque on sprocket.For
Such case is avoided, in the case where having the wind-driven generator for adjusting braking, adjusting braking will not be fully opened, thus
Remaining braking moment can react on uncontrolled adjusting campaign.But this generates at adjusting braking (device) and wears, and by
Lead to biggish noise burden (brake squeal) in the regulating brake that part is unclamped, this may also recognize in wind-driven generator
Lead to problem when card.
It in order to exclude this problem, is also had been presented in 2 101 058B1 of EP: at least one is adjusted into actuator control
It is different from other adjusting revolving speeds of actuator that its revolving speed is made, so that the adjusting actuator causes braking moment.By this method, it adjusts
Section actuator is tensioned and overcomes mechanical clearance and elasticity.It adjusts actuator and is embodied as the electric motor by Frequency Converter Control,
Revolving speed or torque can be adjusted whereby.In this case the disadvantage is that, the braking moment to work is determining.In lower wind
In the case where load, this braking moment is usually excessively high, this makes this kind of adjusting be inefficient in terms of spent energy.
In the case where high wind load, when adjustment equipment is adjusted, braking moment can still be overcome by external loading, and be adjusted
The moving part of equipment is adjusted uncontrolledly.Because therefore revolving speed control or direct torque, tension are eliminated, and may
Lose the control to moving part (for example, cabin).
Summary of the invention
Therefore, the task of the present invention is propose that a kind of method for adjusting the moving part of wind-driven generator and adjusting set
It is standby, the movement of the moving part of wind-driven generator can be controlled when adjusting by them.
The task solves in this way, that is, before adjusting, each drive shaft is tensioned so relative to each other, that is, passes through at least one
Drive shaft is rotated relative to other drive shafts, and during adjusting, and each drive shaft is borrowed in the case where keeping drive shaft tensioning
Position control is helped to rotate jointly along identical direction of rotation, the final position until reaching desired moving part.By opening
Tightly, before original adjusting, the defined position between each drive shaft is adjusted.It is controlled by following position
System keeps tensioning state, because being that all drive shafts are rotated by position control in same direction jointly always.For
Position control uses angular position sensor in drive shaft, and the angle position of drive shaft is for example supplied to driving electricity
Machine, the angle position are handled in position control as the position actual value of position control.Position control is for making as a result,
Must adjust can controllably carry out always, because being directly adjusted to the angle position of position, i.e. drive shaft.
Additionally, position control is also used for: being attempted along direction of rotation as with too strong wind to the movable of wind-driven generator
When part is accelerated, drive shaft is braked automatically.This especially in the resultant couple of drive shaft and moves oppositely oriented reality
It applies in mode and is advantageous.If wind relatively force wind accelerates moving part with braking action on the contrary, other drives
Moving axis is supported with being braked due to position control.Thus the movement for preventing moving part uncontrolled as caused by wind.
Advantageously, in tensioning, especially when the resultant couple reacts on the desired motion of moving part, it would be desirable to
Resultant couple be adjusted to the sum of each single driving moment of drive shaft.Thus the resultant couple is braked ground and is being adjusted as damping
When work.
Preferably, it is tensioned in the following way, i.e., by least one drive shaft along opposite with other drive shafts
Direction of rotation rotation, or rotated by all drive shafts along identical direction of rotation, wherein at least one drive shaft turns to obtain ratio
Other drive shafts are slower, or are kept and (stop) by least one drive shaft, and other drive shafts rotate.
Preferably, tensioning is kept in this way, that is, by the way that by position control, the driving motor of drive shaft is reached in tensioning
To relative position kept relative to each other.
Particularly advantageously, (one) drive shaft is determined as main drive shaft, and other drive shafts follow the main drive shaft
Movement.Thus it can ensure that and particularly precisely maintain the relative position of each drive shaft relative to each other, because following master from drive shaft
The actual motion of drive shaft.
For adjust particularly advantageously, drive shaft between tensioning and adjusting start again by re-tensioning because borrowing
This compensates possible, the undesirable change of tensioning state before adjusting, this is for especially good and reliable
Adjusting.
Detailed description of the invention
Subject invention will be hereinafter explained in more detail referring to figs. 1 to Fig. 6, Fig. 1 to Fig. 6 is illustratively, schematically simultaneously
And the advantageous design structure of the present invention is unrestrictedly shown.Wherein,
Fig. 1 shows the typical form of implementation of wind-driven generator,
Fig. 2 shows have as wind direction tracking drive shaft adjustment equipment a form of implementation,
Fig. 3 shows arrangement of the drive shaft at adjustment equipment,
Fig. 4 shows adjusting of the adjustment equipment for rotating moving part,
Fig. 5 shows the advantageous form of implementation of the control to drive shaft, and
Fig. 6 shows the tensioning for keeping and (stopping) drive shaft of moving part.
Specific embodiment
The present invention do not limit predominately, exemplary description for wind-driven generator 1 cabin 3 azimuth adjustment (wind
To tracking (part) 7).Naturally, the present invention can also make in other adjustment equipments of the moving part for wind-driven generator 1
With being provided at least two drive shafts 11, such as the Wind wheel paddle regulating part 6 of the positioning for adjusting Wind wheel paddle 4.
Fig. 1 shows the typical wind-driven generator 1 with the fixed tower 2 in position, and cabin 3 is arranged on tower 2.In cabin 3
Place is disposed with transmission system 8, and transmission system 8 is usually by wind wheel (wheel hub 5 is disposed with Wind wheel paddle 4 at wheel hub 5) and generator
It constitutes, they are connected with each other by axis, wherein axis is naturally accordingly supported.Usually in transmission system 8, generator it
Before also be provided with transmission device and brake may also be provided with.Generator is driven by wind wheel.The positioning of Wind wheel paddle 4 can pass through work
It is adjusted for the Wind wheel paddle regulating part 6 of adjustment equipment 10.Similarly, cabin 3 is by the wind direction as adjustment equipment 10
Tracking part 7 is arranged to rotate around the vertical axis 18 of tower 2.Wind wheel paddle 4 or cabin 3 be thus wind-driven generator 1 can
Dynamic part, is adjusted according to demand, is specifically rotated, such as to change Wind wheel paddle 4 according to current wind
Positioning, or to track current wind direction.
The drive shaft 11 of the adjustment equipment according to the present invention 10 of the moving part of wind-driven generator 1 is shown in Fig. 2, is adjusted
Section equipment 10 is in this case by taking wind direction tracking part 7 as an example.Via bearing 17, be rolling bearing herein, the rotatably cloth of cabin 3
It sets at tower 2.Thus cabin 3 is supported to rotate around the vertical axis 18 of tower 2.In addition, it can be equipped with regulating brake 19,
The regulating brake is for example with the brake hoop 25 at tower 2, and the caliper for example with the hydraulically operable at cabin 3
26, these calipers 26 can be worked with brake hoop 25 for braking.Drive shaft 11 in order to adjust with wind-driven generator 1 can
Dynamic some mechanical connection, such as rotating moving part.Bearing 17 also is embodied as sliding bearing naturally, and adjusts system
Dynamic device 19 can also save.
Drive shaft 11 is made of driving motor 12 and drive transmission device 13, which drives movable coupling part
It 27, is in the shown embodiment drive pinion 14, as shown in Figure 2.Driving motor 12 can be motor, e.g. asynchronous electricity
Motivation, such as squirrel-cage motor, or e.g. synchronous motor, for example, permanent magnet Exciting-simulator system or electromagnetic excitation formula synchronize it is electronic
Machine.But driving motor 12 is also possible to hydraulic motor or any other suitable motor.In driving motor 12 and coupling part
Drive transmission device 13, e.g. planetary gear are usually additionally provided between 27 (drive pinions 14).Drive pinion 14 with
28 collective effect of coupling part that position is fixedly arranged at tower 2 with it to be mechanically coupled, in the shown embodiment for outer
The sprocket 16 of engaging tooth.When drive pinion 14 rotates, therefore cabin 3 can be rotated relative to tower 2, such as to make cabin
3 tracking wind directions.The drive shaft 11 as at least two of adjustment equipment 10 is constituted, wherein each drive shaft 11 is applied to same
On the fixed coupling part 28 (sprocket 16) in a position.Naturally, which is merely exemplary, and also is embodied as appointing
What is other.For example, sprocket is implementable for internal messing tooth.Similarly, sprocket 16 may be arranged at cabin 3 (as a result,
Can be moved together with cabin), and 11 position of drive shaft is fixedly placed at tower 2.Driving motor 12 also is embodied as having
Have and electrically, pneumatically or hydraulically stops brake (keeping brake) 23.Drive shaft 11 is independently of or is additional to adjusting as a result,
Brake 19 is kept.Specific implementation form is not too important for the present invention.
It is substituted for the drive pinion 14 and sprocket 16 of mechanical attachment, for transmission shaft 11 and wind-driven generator 1
The fixed coupling part 28 of other movable coupling parts 27 of mechanical attachment between moving part and position and possible, example
Such as, friction pulley, belt transmission or the chain conveyer driven respectively by driving motor 12.
According to the present invention, equipped at least two drive shafts 11 for adjustment equipment 11, e.g. as shown in Figure 3 four
Drive shaft 11-1,11-2,11-3,11-4 (wherein in order to which simplification illustrates only driving motor 12-1,12-2,12-3,12-4).
As being explained above, biggish gap may be present in drive shaft 11, especially in drive pinion 14 and chain
Backlash between the gear teeth 16 and the possible backlash in adjusting actuator 13, or the gap in other machinery connection,
And there is biggish elasticity, e.g. due to transmission ratio and torsional strength.In order to which the rotary motion of driving motor 12 is passed
It is delivered on the moving part of wind-driven generator 1 it may first have to overcome gap and elasticity.For example, effective transmission device
The flank of tooth first must be mutually close to along direction of rotation.The moving part of wind-driven generator 1 is that cabin 3 then could be by driving here
Axis 11 moves.However, the very multipurpose rotary of driving motor 12 may be needed thus.This may cause adjustment equipment 10 movement and
The significant problem of control aspect, especially because biggish simultaneously, external, dynamic wind-force may act on as adjustment equipment 10
Load.
In order to eliminate this problem, the position control of drive shaft 11 used according to the invention.By the position of drive shaft 11
Control is adjusted the Angle Position of driving motor 12.The position control of drive shaft 11 is characterized mainly in that, is equipped with driving electricity
The position feedback of machine 12 (or being equally the other parts of drive shaft 11), the position feedback is in 24 (hardware of drive control unit
And/or software) in handled, so as to adjust driving motor 12 (or equally be drive shaft 11 other parts) angle position
Set, the drive control unit for example by driving amplifier 20 (hardware and/or software) and regulation unit 21 (hardware and/or
Software) it constitutes.Driving amplifier 20 can be also integrated in driving motor 12 in the case.In order to carry out position feedback, driving
Angular position sensor 15 can be equipped at dynamic motor 12, which provides the sensor values M as positional value, root
The rotation angle of driving motor 12 can be released according to the positional value.Such angular position sensor 15 is with different forms of implementation
It is fully known, such as rotary encoder or resolver.Driving amplifier 20 is generated for adjusting necessary to driving motor 12
Variable, such as the power supply of electric drive motor 12, such as three phases of the three-phase motor as driving motor 12
Voltage U, V, W, to realize desired rotary motion at every point of time.It is natural for other types of driving motor 12
Other regulated variables can also be used in ground, such as are for hydraulic for the adjustment order of hydraulic valve or in the case where hydraulic motor
The adjustment order of pump.Driving motor 20 can also handle control signal S to carry out position control, and control signal S is for example controlled by adjusting
Unit 21 (hardware and/or software) processed provides.Drive control unit 24 or regulation unit 21 can be again by wind-driven generators 1
Plant control unit 22 is controlled.Drive control unit 24 or regulation unit 21 certainly can be in plant control units 22
It executes, for example as software.Regulation unit 21 and driving amplifier 20 can be used as common hardware and execute.It is also possible that
It is that regulation unit 21, driving amplifier 20 and plant control unit 22 are executed as common hardware.Equally, multiple
Driving amplifier 20 is executed as common hardware, which is controlled by regulation unit 21.In an advantageous design structure
In making, it is equipped with regulation unit 21, which controls at least one of drive shaft 11-1,11-2,11-3,11-4
Driving amplifier 20-1,20-2,20-3,20-4, one group of driving amplifier 20-1,20-2,20-3,20-4 or all drive amplifications
Device 20-1,20-2,20-3,20-4.Drive control unit 24-1,24-2 of each drive shaft 11-1,11-2,11-3,11-4,
24-3,24-4 are then for example by same regulation unit 21 and corresponding driving amplifier 20-1,20-2,20-3,20-4 structure
At.Driving amplifier 20 is also regulation unit 21 or generally drive control unit 24 also can control driving motor 12
It may existing stopping brake 23.
It will be according to Fig. 4, (such as Fig. 3 institute for having the adjustment equipment 10 there are four drive shaft 11-1,11-2,11-3,11-4
Show) illustrate adjustment equipment 10 according to the method for the present invention.
When adjusting beginning, it is preferable that close the existing holding system of possibility of driving motor 12-1,12-2,12-3,12-4
Dynamic device 23, and closing may existing regulating brake 19.In t0Moment, the plant control unit 22 of upper level will be used to adjust
The instruction B of section is given to drive control unit 24-1,24-2,24-3,24-4 of drive shaft 11-1,11-2,11-3,11-4, in institute
It is to be given at regulation unit 21 in the embodiment of description, which controls at least one driving amplifier
20-1,20-2,20-3,20-4.Accordingly, it is possible to existing (presence) and closing stopping brake 23 be used as preparatory operation
And it is released.
As first step according to the method for the present invention, the adjusting of drive shaft 11-1,11-2,11-3,11-4 in script
Before, it is preferably tensioned in the stationary state of the moving part of wind-driven generator 1.For this purpose, at least one drive shaft 11-1
It is rotated relative to other drive shaft 11-2,11-3,11-4.For example, at least one drive shaft 11-1 can be along other drives in order to be tensioned
The opposite direction of rotation movement of moving axis 11-2,11-3,11-4.Alternatively, all drive shaft 11-1,11-2,11- can also be passed through
3,11-4 is rotated along identical direction of rotation and is tensioned, wherein but at least one drive shaft 11-1 than other drive shaft 11-2,
11-3,11-4 rotate slower, or by rotating, in other drive shaft 11-2,11-3,11-4 preferably but optionally along phase
With during the rotation of direction of rotation, stop at least one drive shaft 11-1 to be tensioned.Certainly, a possibility that these are tensioned can also group
It closes.In tensioning state, by torque that is known, previously given or being configured make driving motor 12-1,12-2,12-3,
12-4 will not be further rotated, and thus overcome gap and elasticity.This torque passes through driving motor 12-1,12-2,12- certainly
3, the component of 12-4 and/or drive shaft 11-1,11-2,11-3,11-4 are limited, to avoid damaging or overloading.
Tensioning it is also possible that carry out so that drive shaft 11-1,11-2,11-3,11-4 first with the first torque tensioning, from
And ensure actually overcome gap and elasticity, and can actually resist the fixed coupling part 28 in position, such as sprocket
16 and be tensioned.First torque is chosen so as to reliably overcome gap and elasticity certainly.This first initial torque it
Afterwards, tensioning can with corresponding thereto, lower second torque terminates.It is produced by lower second torque and is driven for controlling
The higher torque reserve of moving axis 11-1,11-2,11-3,11-4.From higher first torque to the mistake of lower second torque
Cross can arbitrarily carry out herein, be thus, for example, great-jump-forward or be also possible to continuous.
Tensioning substantially can be carried out arbitrarily, such as by drive control unit 24-1,24-2,24-3,24-4
Revolving speed control, direct torque or the position control of drive shaft 11-1,11-2,11-3,11-4.If for each drive shaft 11-
1,11-2,11-3,11-4 adjust desired torque, then direct torque is preferably used, that is, drive shaft 11-1,11-2,11-3,
Driving amplifier 20-1,20-2,20-3,20-4 adjustment of 11-4 is desired, is for example controlled by regulation unit 21 or equipment
Device 22 is previously given or the tensioning torque that is configured.It also could dictate that in the case, each individual drive shaft 11-1,11-
2, the resultant couple of all generated driving moments of 11-3,11-4 needs not be zero.Also it can adjust desired with moving part
The opposite excess torque in direction of rotation, is then used as braking moment, to be used as the damping of the wind relative to external action.?
When tensioning, drive shaft 11-1,11-2,11-3,11-4 are rotated up until overcoming mechanical clearance and elasticity, this be also by turn
Speed control or position control are achievable.
It there may come a time when by the tensioning of direct torque persistently relatively long.In order to be improved to this, it can be stated that true in advance
Determine for reaching relative position necessary to specific tensioning state (torque for tensioning).Then being tensioned can also be by position
Control simply carries out, provides required reason in advance by the positioner to drive shaft 11-1,11-2,11-3,11-4
It is carried out by position, to reach relative position.In this case, coarse positioning, coarse positioning can also be carried out by position control
It can quickly execute, and carry out fine positioning by direct torque later subtly to adjust the torque.With this side
Formula, tensioning can be executed significantly more quickly compared with by only direct torque.
In order to determine required relative position, at least one drive shaft 11-1 can be made in the case where 10 zero load of adjustment equipment
It is rotated relative to other drive shaft 11-2,11-3,11-4, and torque achieved and achieved can be obtained in the case
Relative position.Certainly, it also can adjust (such as by direct torque) specific torque and obtain affiliated relative position, or
Person can advance to specific relative position in turn and obtain adjusted torque.This can be opposite in obtained torque-
It is completed on multiple points on position curve.Interpolation can be carried out between acquired point as a result, or regression curve can be placed in institute
In the point of acquisition, to obtain the indicatrix on the torque range.This determination (meter can also be executed for different temperature
It calculates).It is possible thereby to be quickly determined and adjusted for for being tensioned phase required for desired torque as identified relationship
To position, this may also depend on different temperature.The determination of relationship can also be repeated with specific time interval, with
Just it considers the operating status of variation and/or also allows for the influence of possible aging or the influence of abrasion.Identified relationship
Certainly it also stores in an appropriate manner, such as table, curve or indicatrix, to use it during operation.
The revolving speed n of drive shaft 11-1,11-2,11-3,11-4 are shown in the example of fig. 41、n2、n3、n4.Obvious
It is that the first drive shaft 11-1 adjusts revolving speed n1, the revolving speed n of the revolving speed and other drive shaft 11-2,11-3,11-42、n3、n4On the contrary
Ground orientation.In tensioning state, driving motor 12-1,12- can be made by torque that is certain, previously given or being configured
2,12-3,12-4 are not further rotated, therefore the revolving speed n of four drive shafts 111、n2、n3、n4Drop to zero.
In tensioning state, existing regulating brake 19 unclamps most of the time, this is sustainable several according to form of implementation
Second.It should be noted herein that tensioning can also execute itself in the case where regulating brake 19 that are release or being not present.?
t1Moment, such as the adjustment process by the introducing script of plant control unit 22.At the latest at the moment, it is adjusted to drive shaft 11-
1, the position control of 11-2,11-3,11-4, preferably before that moment, such as after tensioning process terminates.Carry out position
Control is set to keep being tensioned.For this purpose, all drive shaft 11-1,11-2,11-3,11-4 jointly keep tensioning in the case where edge
Identical direction of rotation is adjusted.In the case, the tensioning (tension) of drive shaft 11-1,11-2,11-3,11-4 preferably should not
Decline not decline too strongly at least, but can increase.This for example occurs, so that drive shaft 11-1,11-2,11-3,11-4 couple
It is remained unchanged in the relative position of each other by position control.When adjusting, drive shaft 11-1,11-2,11-3,11-4 are basic
On be adjusted to turn over identical rotation angle along identical direction of rotation." substantially " therefore, this is because due to inevitable
Degree of regulation, measurement accuracy, in drive shaft 11-1,11-2,11-3,11-4 and the related deviation of production etc., so each list
Rotation angle in only drive shaft 11-1,11-2,11-3,11-4 usually will not be accurately consistent.
In order to improve position control, master/slave formula control also can be performed, which is illustrated according to Fig. 5.Fig. 5 shows embodiment
Four drive shafts 11-1,11-2,11-3,11-4, be respectively provided with driving amplifier 20-1,20-2,20-3,20-4 and corresponding
(other components of power train, such as transmission mechanism 13 do not show for simplicity by driving motor 12-1,12-2,12-3,12-4
Out).(one) drive shaft 11-1,11-2,11-3,11-4 is determined as main drive shaft 11-2, and from regulation unit
21 obtain position nominal value (theoretical value) Sp.The driving amplifier of other drive shaft 11-1,11-3,11-4 from main drive shaft 11-2
20-2 obtains corresponding position nominal value SS.It passes to from main drive shaft 11-2 from the position from drive shaft 11-1,11-3,11-4 and marks
Title value SSThe angle actual value M preferably obtained by the angular position sensor 15 of main drive motor 12-2M.As a result, from drive
Moving axis 11-1,11-3,11-4 accurately follow the movement of main drive shaft 11-2.But it is also possible that it is equipped with more than one master
Drive shaft 11-2, wherein be each main drive shaft 11-2 punishment equipped with some from drive shaft 11-1,11-3,11-4.Then, such as
It is carried out describedly to each main drive shaft 11-2 and its from the control of drive shaft 11-1,11-3,11-4.
In another design structure, position nominal value SPIt can also be transmitted to from regulation unit 21 all from drive shaft
Just to adjust at 11-1,11-3,11-4.
It can also be envisaged that such combination: be equipped at least one main drive shaft 11-2 and at least one from drive shaft 11-1,11-
3,11-4, and other position nominal value S is directly obtained from drive shaft 11-1,11-3,11-4P。
In order to realize the control, driving amplifier 20-1,20-2 of drive shaft 11-1,11-2,11-3,11-4,20-3,
20-4 can be interengageable for data communication, and/or pass through suitable communication bus, such as POWERLINK or CAN and adjusting
Control unit 21 is interengageable for data communication.
From for example in the position nominal value S of rotation angle formP、SSWith sensor acquired in the actual value as control
In value M (or the rotation angle thus obtained), according to the adjuster (example executed usually as software in driving amplifier 20
Such as in PID regulator) calculate the required regulated variable controlled, e.g. power supply (power supply) U, V, W, the adjusting
Variable is needed, and thus position actual value can be made to follow position nominal value.Instead of power supply, in driving amplifier 20
Other numerical value can be calculated as regulated variable, such as at known PWM (pulse width modulation, Pulsweitenmodulation)
Then duty ratio or pulse/interval ratio in the case where control, the numerical value are voluntarily scaled power supply in driving motor 12.
In this case, control and power electronic (for providing power supply use) can also separate.This kind of position in actuator
Control is fully known, therefore need not be further studied in detail it.
In order to make all drive shaft 11-1,11-2,11-3,11-4 carry out control position to adjust to adjustment equipment 10
Section gives out position nominal value S by regulation unit 21 in advanceP, the position nominal value by drive shaft 11-1,11-2,11-3,
11-4 is realized, is such as illustrated referring to Fig. 5.In this case, position nominal value SPNaturally correspond to required value, so as to
The moving part of wind-driven generator 1 is set to rotate to desired final position by adjustment equipment 10In, such as along desired side
To 10 ° of rotation.
The realization (conversion) can be carried out again in various modes.For example, may be configured in main driving amplifier 20-2
Speed ramp, to realize the previously given value in position, for example, as shown in figure 4.For this purpose, main drive shaft 11-2 can be in t1Moment is first
Accelerated with acceleration that is previously given or being configured, for example possible peak acceleration, it is previously given until reaching
Or the adjustment speed n being configuredvUntil.The main motion is followed as described above from drive shaft 11-1,11-3,11-4.Certainly, institute
Some drive shafts or certain drive shaft 11-1,11-2,11-3,11-4 can also obtain position nominal value S from equipment control piece 21P,
And it is realized by identical speed ramp.Replace speed ramp, can also realize every kind of other rate curve certainly.Pass through through
Configuration or previously given speed ramp, drive shaft 11-1,11-2,11-3,11-4 can slow down in time, thus in speed ramp
End (ending) at realize desired final positionE.g. desired rotation angle.Such speed ramp is any
Other rate curves are can be simply calculated.
Alternatively, desired rate curve equally can be achieved certainly in regulation unit 21, and with it is previously given when
Between step-length, the time step for example within the scope of millisecond to the previously given rotation angle of each driving amplifier 20.In the case,
Master/slave formula construction can be executed again, in this configuration, only main driving amplifier 20-2 obtains rotation angle to be adjusted, and from
Drive shaft 11-1,11-3,11-4 are followed again, or again may be all driving amplifier 20-1,20-2,20-3,20-4 by
Regulation unit 21 obtains rotation angle.
However, it is also possible to regulation unit 21 plant control unit 22 (or driving amplifier 20-1,20-2,
20-3,20-4) it is given only for the instruction adjusted along desired direction of rotation, and drive shaft 11-1,11-2,11-3,11-4
It is then act through determining rate curve to accelerate, until reaching adjustment speed nvUntil, and then with adjustment speed nvContinue to revolve
Turn, until plant control unit 22 provides the instruction for stopping.In order to stop, corresponding speed can be executed or constructed again
It writes music line, such as the braking with maximum deceleration, until halted state.This can also be preferably again with drive shaft 11-
1, the master/slave formula of 11-2,11-3,11-4 construct to realize.
Such as clear in Fig. 4, the revolving speed n of driving motor 12-1,12-2,12-3,12-41、n2、n3、n4It is controlled by position
System is substantially identical (within accessible precision) when being adjusted, because what is adjusted is substantially the same rotation angle
Degree, to maintain the tensioning of drive shaft 11-1,11-2,11-3,11-4.
In t2Moment, driving motor 12-1,12-2,12-3,12-4 of drive shaft 11-1,11-2,11-3,11-4 are placed in
Halted state, thus adjusting movement terminates.
Later, simply by the presence of the stopping brake 23 and/or adjustment equipment of driving motor 12-1,12-2,12-3,12-4
10 regulating brake 19 can be turned off.
In an advantageous design structure of the invention, before original adjusting, i.e., in t1Before moment, drive shaft
11-1,11-2,11-3,11-4 re-tensioning again.It is made between initial tensioning and original adjusting, such as adjusting
During dynamic device 19 is opened, may due to external action wind load and generate the uncontrolled adjusting of adjustment equipment 10.It opens as a result,
Tight state may change in an undesired manner, this may have a negative impact to subsequent adjusting.In order to avoid the situation, drive
Moving axis 11-1 can make multiple or all drive shaft 11-1,11-2,11-3,11-4 re-tensioning again, to be generated again through fixed
The tensioning state of justice, such as resultant couple that is desired, working.In the embodiment according to Fig. 4, the first drive shaft 11-1 is again
Re-tensioning in this wise, i.e., by the driving motor 12-1 of the first drive shaft 11-1 again along previously given direction of rotation work
Make, until reaching desired tensioning state.
Equally it can be beneficial that repeating the tensioning of drive shaft, again after the adjusting movement of end to produce again
The tensioning state of raw definition.In this case, it repeats not forcibly it is meant that identical torque when starting with adjusting movement
Or by identical type and in a manner of be tensioned, and mean only that drive shaft 11-1,11-2,11-3,11-4 are opened again
Tightly.Thus, it may be advantageous to shorten the time required for being tensioned before adjusting movement next time.The adjusting campaign terminated it
Tensioning (being tensioned again) can be in the then stopping system of existing driving motor 12-1,12-2,12-3,12-4 if necessary after afterwards this
Dynamic device 23 and/or the regulating brake 19 of adjustment equipment 10 carry out before or after closing.
It is a further advantage of the present invention that stopping only by adjustment equipment 10 to the moving part of wind-driven generator 1
Drive shaft 11-1,11-2,11-3,11-4 are possible.It is especially braked as a result, in the completely open adjusting of adjustment equipment 10
In the case where device 19, in spite of wind, it is still possible for adjusting movement.However, this can also be used for keeping the movable of adjustment equipment 10
Part, it is as follows implemented.
As having been carried out, moving part can be braked by regulating brake 19 and/or by as bearing 17
It friction in sliding bearing and/or is braked by the holding brake 23 in drive shaft 11-1,11-2,11-3,11-4.?
It may happen that external wind load is biggish under all situations, such as the case where offshore wind generators meet with typhoon
Under, so that the braking moment applied is overcome, and the moving part of wind-driven generator 1 is since the wind of effect is without controllably
Rotation.This can due in regulating brake 19 or keeping the abrasion that is not avoided that in brake 23 and become even worse because with
Progressive abrasion, braking effect may weaken.In order to eliminate or at least mitigate the problem, drive shaft 11-1,11-2,11-3,11-
4 can also be used for stopping moving part according to the present invention, such as support for braking.
In order to keep, thus set out: drive shaft 11-1,11-2,11-3,11-4 are when keeping starting, in t1Moment is as above
It is tensioned describedly.In order to keep, it is advantageous to tensioning when preferably uniformly distribute drive shaft 11-1,11-2,11-3,
11-4, that is, for example, identical more drive shaft 11-1,11-2 is rotated in one direction and rotated along another direction, because of wind
Moving part can be made to rotate in both directions.Four drive shaft 11-1,11-2,11-3,11-4 as shown in Figure 3 the case where
Under, rotate two drive shafts 11-1,11-2 to be tensioned in one direction, and other two drive shaft 11-3,
11-4 rotates in another direction, as shown in Figure 6.Similarly, it in order to stop moving part, in tensioning, is preferably adjusted to
Resultant couple is zero.
In the case where drive shaft 11-1,11-2,11-3,11-4 of tensioning, now in order to stop moving part, pass through
(adjusting) is controlled to keep the adjusted tensioning (and in possible precision) of drive shaft 11-1,11-2,11-3,11-4.This
It can advantageously be carried out again by position control, however progress can also be controlled by direct torque or also by revolving speed.As long as
Tensioning is also effective, and the moving part of wind-driven generator 1 would not move.In the control for maintaining tensioning, drive shaft 11-1,
Therefore 11-2,11-3,11-4 can be moved, to compensate due to the issuable external disturbance to tensioning of wind.
If so that tensioning is overcome by wind, but this will lead to moving part since the external force that the wind of effect generates is too big
Movement.Therefore, stopping can only ensure until the wind load of a certain determination, and the wind load of the determination depends on adjusted again
Tight state.These movements of moving part are acceptable, or can be corrected again by rule.For example, in drive control unit 24-
1, the rule of the superposition to the position of moving part can be equipped in 24-2,24-3,24-4, by the rule when keeping beginning pair
The initial position of control section is adjusted.The rule can be executed as described by the adjusting above for moving part.
For example, previously given for each drive shaft 11-1,11-2,11-3,11-4 nominal value S in position can be used aspReason
By position, which, which corresponds to, keeps initial position when starting or the position after tensioning.For this purpose, can be for example to each drive
The previously given corresponding initial position of moving axis 11-1,11-2,11-3,11-4 is as position nominal value Sp.Drive shaft 11- as a result,
1,11-2,11-3,11-4 are maintained in initial position by position control, and the possible, external disturbance as caused by wind
Thus it is adjusted.If although in harness drive shaft 11-1,11-2,11-3,11-4 moving part is still due to the wind of effect
And generating undesirable rotation, then initial position can rebuild by position control and correct the rotation of moving part.However,
The relative position relative to each other of drive shaft 11-1,11-2,11-3,11-4 can be adjusted, it is possible thereby to carry out movable
Partial possible rotation.Such rotation of moving part can be carried out by the control of the superposition of the position to moving part
Compensation.
The holding of moving part can also carry out in the case where regulating brake 19 of closing, be achieved in exchange to control and move
The support of device 19.If open regulating brake 19 in the case where or no regulating brake 19 adjustment equipment 10
In the case of carry out holding to moving part, then drive shaft 11-1,11-2,11-3,11-4 can also uniquely generate resistant function
Wind holding (braking) moving part braking effect.
It is realized however, keeping to control by revolving speed.Here, for example can previously given drive shaft 11-1,11-2,11-
3, the revolving speed that 11-4 is zero is as nominal value, and the revolving speed is then by the control (rule) of drive shaft 11-1,11-2,11-3,11-4
It is adjusted.The external disturbance of rotation is brought thus to be adjusted by the possibility that wind generates.Similarly, this can come by direct torque
It realizes, the torque influenced on moving part can be adjusted by the direct torque.In these cases, moving part
Rotation can also be compensated by control (rule), such as be controlled by the upper level of the position to moving part.
Regardless of whether by position control, revolving speed control or direct torque, the purpose of holding be by drive shaft 11-1,
11-2,11-3,11-4 fix the moving part of adjustment equipment 10 to resist the wind to work, and this is until a certain wind load
It is possible until lotus.
Because driving motor 12-1,12-2,12-3,12-4 are usually cooled down by the ventilation blower on motor shaft, and
And the ventilation blower does not rotate in halted state or the only slowly rotation in the case where slow-speed of revolution, it preferably can also monitoring driving electricity
The temperature of machine 12-1,12-2,12-3,12-4, to avoid thermal overload.In order to by driving motor 12-1,12-2,12-3,12-4
Thermal force remain it is as low as possible, when not needing to intervene any control, stop brake 23 can be again switched off.It can equally set
Think, the warning with signal to plant control unit 22 and/or the sending of regulation unit 21 about thermal overload.In the situation
Under, it can interrupt and (holding) is stopped to drive shaft 11-1,11-2,11-3,11-4.
In order to execute the holding to drive shaft 11-1,11-2,11-3,11-4, device drives device 22 can give driving control
Instruction of the regulation unit 21 1 of unit 24 or drive control unit 24 processed for holding.Then, as long as drive shaft is not
It has been in the state of tensioning, drive control unit 24 is just used for the tensioning of drive shaft 11-1,11-2,11-3,11-4.Example
Such as, it is tensioned as described above ground.After the tensioning or after obtaining the instruction for tensioning, for example, all drive shafts
The initial position of 11-1,11-2,11-3,11-4 are stored, and are stopped by position control until driving motor 12-1,12-
2, until the torque capacity of 12-3,12-4 being configured, which also can reach transmission mechanism 13-1,13-2,13-3,13-4
Maximum moment and/or maximum torque to be passed.
It is stopped by this, since abrasion causes the braking effect for losing loss can also be by drive shaft 11-1,11-2,11-
3,11-4 is compensated.Additionally, thus the braking system of wind-driven generator, such as regulating brake 19 can also be designed it is smaller simultaneously
And thus cost is lower.
Claims (11)
1. the method for adjustment equipment (10) of the one kind for adjusting wind-driven generator (1), the movable part of the wind-driven generator (1)
Point by the adjustment equipment rotate, wherein the adjustment equipment (10) include have corresponding driving motor (12-1,12-2,
12-3,12-4) at least two drive shafts (11-1,11-2,11-3,11-4), the drive shaft and the moving part are mechanical
Connection, which is characterized in that before the adjusting, the drive shaft (11-1,11-2,11-3,11-4) passes through relative to each other
Under type is tensioned: drive shaft as described in by least one (11-1) relative to other drive shafts (11-2,11-3,
It 11-4) rotates, and during the adjusting, the drive shaft (11-1,11-2,11-3,11-4) is keeping the drive shaft
(11-1,11-2,11-3,11-4) be tensioned during by the position control of the drive shaft (11-1,11-2,11-3,11-4) and
It is rotated jointly along identical direction of rotation, until reaching the desired final position of the moving partUntil.
2. the method as described in claim 1, which is characterized in that by drive shaft described at least one (11-1) along other described
The opposite direction of rotation of drive shaft (11-2,11-3,11-4) rotates to be tensioned.
3. the method as described in claim 1, which is characterized in that pass through all described drive shaft (11-1,11-2,11-3,11-
4) it is rotated along identical direction of rotation to be tensioned, wherein drive shaft described at least one (11-1) is than other drive shafts
(11-2,11-3,11-4) rotates slower.
4. the method as described in claim 1, which is characterized in that by stopping drive shaft described at least one (11-1) and it
Its described drive shaft (11-2,11-3,11-4) rotation is to be tensioned.
5. method according to any one of claims 1 to 4, which is characterized in that by maintaining described drive shaft (11-1,11-
2,11-3,11-4) relative to each other opposite that reaches in tensioning of the driving motor (12-1,12-2,12-3,12-4)
Position maintains to be tensioned.
6. the method as described in any one of claims 1 to 5, which is characterized in that tensioning when, it would be desirable to resultant couple adjustment
For the sum of each driving moment of the drive shaft (11-1,11-2,11-3,11-4).
7. method as claimed in claim 6, which is characterized in that the resultant couple reacts on the desired of the moving part
Movement.
8. the method as described in any one of claims 1 to 7, which is characterized in that drive shaft described at least one (11-2) is true
It is set to active drive axis, and a number of other drive shafts (11-1,11-3,11-4) follows the main drive shaft (11-2)
Movement.
9. such as method described in any item of the claim 1 to 8, which is characterized in that the drive shaft (11-1,11-2,11-3,
11-4) again by re-tensioning between the tensioning and the adjusting start.
10. one kind has the wind-driven generator (1) of adjustment equipment (10), the adjustment equipment is for making the wind-driven generator
(1) moving part rotation, wherein the adjustment equipment (10) include have corresponding driving motor (12-1,12-2,12-3,
At least two drive shafts (11-1,11-2,11-3,11-4) 12-4), the drive shaft and the moving part are mechanically coupled,
It is characterized in that, being equipped with drive control unit (24), the drive control unit makes drive shaft described at least one (11-1) phase
For other drive shaft (11-2,11-3,11-4) rotations to be tensioned, and held in the drive control unit (24)
The position control of the row drive shaft (11-1,11-2,11-3,11-4), the drive control unit make the drive shaft (11-
1,11-2,11-3,11-4) be tensioned by the position control in the holding drive shaft (11-1,11-2,11-3,11-4)
In the case of jointly along identical direction of rotation rotate, until reaching the desired final position of the moving partUntil.
11. wind-driven generator as claimed in claim 10, which is characterized in that the adjustment equipment (10) is wind direction tracking part
(7) or Wind wheel paddle regulating part (6).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP19159737.6A EP3702611B1 (en) | 2019-02-27 | 2019-02-27 | Method for adjusting an adjusting device of a wind turbine |
| EP19159737.6 | 2019-02-27 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110285020A true CN110285020A (en) | 2019-09-27 |
| CN110285020B CN110285020B (en) | 2023-09-08 |
Family
ID=65628682
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910620924.4A Active CN110285020B (en) | 2019-02-27 | 2019-07-10 | Method for adjusting an adjusting device of a wind turbine |
Country Status (9)
| Country | Link |
|---|---|
| US (1) | US11225946B2 (en) |
| EP (1) | EP3702611B1 (en) |
| JP (1) | JP2020139502A (en) |
| KR (1) | KR20200105430A (en) |
| CN (1) | CN110285020B (en) |
| BR (1) | BR102020003457A2 (en) |
| CA (1) | CA3073418A1 (en) |
| RU (1) | RU2020108013A (en) |
| TW (1) | TW202032002A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113909971A (en) * | 2021-10-26 | 2022-01-11 | 湖北宜昌精森机械有限公司 | Metal product processing device |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2022173914A (en) * | 2021-05-10 | 2022-11-22 | ナブテスコ株式会社 | Windmill brake control device and windmill |
| CN114428452B (en) * | 2022-04-06 | 2022-07-15 | 成都凯天电子股份有限公司 | Dual-redundancy control device of position detection and retraction control equipment and control method thereof |
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- 2019-02-27 EP EP19159737.6A patent/EP3702611B1/en active Active
- 2019-07-10 CN CN201910620924.4A patent/CN110285020B/en active Active
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2020
- 2020-02-19 BR BR102020003457-0A patent/BR102020003457A2/en not_active IP Right Cessation
- 2020-02-20 JP JP2020026842A patent/JP2020139502A/en active Pending
- 2020-02-24 CA CA3073418A patent/CA3073418A1/en not_active Abandoned
- 2020-02-25 US US16/800,433 patent/US11225946B2/en active Active
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| CN108474347A (en) * | 2015-11-20 | 2018-08-31 | 比伯拉赫利勃海尔零部件有限公司 | Adjustment and/or driving unit, the wind power station with the adjustment and/or driving unit and method of control adjustment and/or driving unit |
| US20180372071A1 (en) * | 2015-11-20 | 2018-12-27 | Liebherr-Components Biberach Gmbh | Adjustment and/or drive unit, wind power plant having such an adjustment and/or drive unit, and method for controlling such an adjustment and/or drive unit |
| WO2018105590A1 (en) * | 2016-12-05 | 2018-06-14 | ナブテスコ株式会社 | Windmill drive device, windmill drive device unit, and windmill |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113909971A (en) * | 2021-10-26 | 2022-01-11 | 湖北宜昌精森机械有限公司 | Metal product processing device |
| CN113909971B (en) * | 2021-10-26 | 2023-12-12 | 湖北宜昌精森机械有限公司 | Metal product processingequipment |
Also Published As
| Publication number | Publication date |
|---|---|
| US20200271092A1 (en) | 2020-08-27 |
| EP3702611A1 (en) | 2020-09-02 |
| RU2020108013A3 (en) | 2021-11-25 |
| EP3702611B1 (en) | 2022-06-22 |
| TW202032002A (en) | 2020-09-01 |
| CN110285020B (en) | 2023-09-08 |
| JP2020139502A (en) | 2020-09-03 |
| KR20200105430A (en) | 2020-09-07 |
| BR102020003457A2 (en) | 2020-09-29 |
| RU2020108013A (en) | 2021-08-25 |
| CA3073418A1 (en) | 2020-08-27 |
| US11225946B2 (en) | 2022-01-18 |
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